집광로봇의 A* 알고리즘에 기반한 경로계획과 추종 제어기 개발

Abstract

his paper proposes path planner and its tracking controller for a differential drive underwater mining robot to navigate from start point to goal point with avoiding obstacles. The path planner which generates a path for an underwater robot is presented based on A* path planning algorithm due to its simplicity and high efficiency, whereas its tracking controller is designed based on Backstepping controller method. To show their effectiveness, these designed algorithms are applied in a differential drive underwater mining robot for simulations. The simulation results show that the designed path planner and tracking controller can work very well by planning and tracking the path that avoid obstacles. is presented based on A* path planning algorithm due to its simplicity and high efficiency, whereas its tracking controller is designed based on Backstepping controller method. To show their effectiveness, these designed algorithms are applied in a differential drive underwater mining robot for simulations. The simulation results show that the designed path planner and tracking controller can work very well by planning and tracking the path that avoid obstacles.